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<a href="#pub-types">Public Types</a> &#124;
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:adbada259f1383ec01148bad4256c2b9f"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adbada259f1383ec01148bad4256c2b9f"></a>
typedef Eigen::Matrix&lt; double, 1, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Vector1d</b></td></tr>
<tr class="separator:adbada259f1383ec01148bad4256c2b9f"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:aea7781a2eb5a410ca8ab2bbfe425cb6a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Stuggihop.html#aea7781a2eb5a410ca8ab2bbfe425cb6a">Stuggihop</a> ()</td></tr>
<tr class="memdesc:aea7781a2eb5a410ca8ab2bbfe425cb6a"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classblmc__robots_1_1Stuggihop.html">Stuggihop</a> is the constructor of the class.  <a href="#aea7781a2eb5a410ca8ab2bbfe425cb6a">More...</a><br /></td></tr>
<tr class="separator:aea7781a2eb5a410ca8ab2bbfe425cb6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2a272c1cb428a2a7250b23d7ca40c894"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2a272c1cb428a2a7250b23d7ca40c894"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Stuggihop.html#a2a272c1cb428a2a7250b23d7ca40c894">initialize</a> ()</td></tr>
<tr class="memdesc:a2a272c1cb428a2a7250b23d7ca40c894"><td class="mdescLeft">&#160;</td><td class="mdescRight">initialize the robot by setting aligning the motors and calibrate the sensors to 0 <br /></td></tr>
<tr class="separator:a2a272c1cb428a2a7250b23d7ca40c894"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab3c118885810575b36c49432a2a5eca5"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab3c118885810575b36c49432a2a5eca5"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Stuggihop.html#ab3c118885810575b36c49432a2a5eca5">send_target_motor_current</a> (const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt; target_motor_current)</td></tr>
<tr class="memdesc:ab3c118885810575b36c49432a2a5eca5"><td class="mdescLeft">&#160;</td><td class="mdescRight">send_target_torques sends the target currents to the motors <br /></td></tr>
<tr class="separator:ab3c118885810575b36c49432a2a5eca5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac8bae7764c409c8312408ea8adb1165f"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac8bae7764c409c8312408ea8adb1165f"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Stuggihop.html#ac8bae7764c409c8312408ea8adb1165f">send_target_joint_torque</a> (const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt; target_joint_torque)</td></tr>
<tr class="memdesc:ac8bae7764c409c8312408ea8adb1165f"><td class="mdescLeft">&#160;</td><td class="mdescRight">send_target_torques sends the target currents to the motors <br /></td></tr>
<tr class="separator:ac8bae7764c409c8312408ea8adb1165f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a594cb654f63c3ff8fb7718ce7d393d81"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Stuggihop.html#a594cb654f63c3ff8fb7718ce7d393d81">acquire_sensors</a> ()</td></tr>
<tr class="memdesc:a594cb654f63c3ff8fb7718ce7d393d81"><td class="mdescLeft">&#160;</td><td class="mdescRight">acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any getter to have up to date data.  <a href="#a594cb654f63c3ff8fb7718ce7d393d81">More...</a><br /></td></tr>
<tr class="separator:a594cb654f63c3ff8fb7718ce7d393d81"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5f0707d8965fc98b36ca3fa42b57db5f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Stuggihop.html#a5f0707d8965fc98b36ca3fa42b57db5f">set_hardstop2zero_offsets</a> (const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt; hardstop2zero_offsets)</td></tr>
<tr class="memdesc:a5f0707d8965fc98b36ca3fa42b57db5f"><td class="mdescLeft">&#160;</td><td class="mdescRight">set_hardstop2zero_offsets  <a href="#a5f0707d8965fc98b36ca3fa42b57db5f">More...</a><br /></td></tr>
<tr class="separator:a5f0707d8965fc98b36ca3fa42b57db5f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afb35c29fd6e5eb97337857fd34532a6d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Stuggihop.html#afb35c29fd6e5eb97337857fd34532a6d">set_start2hardstop_offsets</a> (const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt; start2hardstop_offsets)</td></tr>
<tr class="memdesc:afb35c29fd6e5eb97337857fd34532a6d"><td class="mdescLeft">&#160;</td><td class="mdescRight">set_start2hardstop_offsets  <a href="#afb35c29fd6e5eb97337857fd34532a6d">More...</a><br /></td></tr>
<tr class="separator:afb35c29fd6e5eb97337857fd34532a6d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8d9d32080e9262b319f4f4ce7d85bac1"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Stuggihop.html#a8d9d32080e9262b319f4f4ce7d85bac1">get_motor_positions</a> ()</td></tr>
<tr class="memdesc:a8d9d32080e9262b319f4f4ce7d85bac1"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_positions  <a href="#a8d9d32080e9262b319f4f4ce7d85bac1">More...</a><br /></td></tr>
<tr class="separator:a8d9d32080e9262b319f4f4ce7d85bac1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:accb7420eaa50dafb84c434623697a272"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Stuggihop.html#accb7420eaa50dafb84c434623697a272">get_motor_velocities</a> ()</td></tr>
<tr class="memdesc:accb7420eaa50dafb84c434623697a272"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_velocities  <a href="#accb7420eaa50dafb84c434623697a272">More...</a><br /></td></tr>
<tr class="separator:accb7420eaa50dafb84c434623697a272"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6da6fdecb11573e52a0c059d84e7f4c5"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Stuggihop.html#a6da6fdecb11573e52a0c059d84e7f4c5">get_motor_currents</a> ()</td></tr>
<tr class="memdesc:a6da6fdecb11573e52a0c059d84e7f4c5"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_currents  <a href="#a6da6fdecb11573e52a0c059d84e7f4c5">More...</a><br /></td></tr>
<tr class="separator:a6da6fdecb11573e52a0c059d84e7f4c5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8caaf3092fab4df7cb4a21c785a92caa"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Stuggihop.html#a8caaf3092fab4df7cb4a21c785a92caa">get_motor_target_currents</a> ()</td></tr>
<tr class="memdesc:a8caaf3092fab4df7cb4a21c785a92caa"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_target_currents  <a href="#a8caaf3092fab4df7cb4a21c785a92caa">More...</a><br /></td></tr>
<tr class="separator:a8caaf3092fab4df7cb4a21c785a92caa"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa3c24185a4ce67f235c535e4913832d2"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Stuggihop.html#aa3c24185a4ce67f235c535e4913832d2">get_motor_torques</a> ()</td></tr>
<tr class="memdesc:aa3c24185a4ce67f235c535e4913832d2"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_torques  <a href="#aa3c24185a4ce67f235c535e4913832d2">More...</a><br /></td></tr>
<tr class="separator:aa3c24185a4ce67f235c535e4913832d2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa37d49ec5e4fb52bac480aa552fc4546"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Stuggihop.html#aa37d49ec5e4fb52bac480aa552fc4546">get_target_motor_torques</a> ()</td></tr>
<tr class="memdesc:aa37d49ec5e4fb52bac480aa552fc4546"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_target_motor_torques  <a href="#aa37d49ec5e4fb52bac480aa552fc4546">More...</a><br /></td></tr>
<tr class="separator:aa37d49ec5e4fb52bac480aa552fc4546"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acffc9bf97d4b58ad49703855a70b95cf"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Stuggihop.html#acffc9bf97d4b58ad49703855a70b95cf">get_motor_inertias</a> ()</td></tr>
<tr class="memdesc:acffc9bf97d4b58ad49703855a70b95cf"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_inertias  <a href="#acffc9bf97d4b58ad49703855a70b95cf">More...</a><br /></td></tr>
<tr class="separator:acffc9bf97d4b58ad49703855a70b95cf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a41fda0b6e5b070341e342291c1d0fd1d"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Stuggihop.html#a41fda0b6e5b070341e342291c1d0fd1d">get_motor_encoder_indexes</a> ()</td></tr>
<tr class="memdesc:a41fda0b6e5b070341e342291c1d0fd1d"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_encoder_indexes  <a href="#a41fda0b6e5b070341e342291c1d0fd1d">More...</a><br /></td></tr>
<tr class="separator:a41fda0b6e5b070341e342291c1d0fd1d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4c0847fc848bab2d1ad7f76542fffb3c"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Stuggihop.html#a4c0847fc848bab2d1ad7f76542fffb3c">get_motor_torque_constants</a> ()</td></tr>
<tr class="memdesc:a4c0847fc848bab2d1ad7f76542fffb3c"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_motor_torque_constants  <a href="#a4c0847fc848bab2d1ad7f76542fffb3c">More...</a><br /></td></tr>
<tr class="separator:a4c0847fc848bab2d1ad7f76542fffb3c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a776d704e7fd109da3095d4da03fcf12b"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Stuggihop.html#a776d704e7fd109da3095d4da03fcf12b">get_joint_positions</a> ()</td></tr>
<tr class="memdesc:a776d704e7fd109da3095d4da03fcf12b"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_joint_positions  <a href="#a776d704e7fd109da3095d4da03fcf12b">More...</a><br /></td></tr>
<tr class="separator:a776d704e7fd109da3095d4da03fcf12b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad06f6d6a3cb3f85848fce1178bc60dd1"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Stuggihop.html#ad06f6d6a3cb3f85848fce1178bc60dd1">get_joint_velocities</a> ()</td></tr>
<tr class="memdesc:ad06f6d6a3cb3f85848fce1178bc60dd1"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_joint_velocities  <a href="#ad06f6d6a3cb3f85848fce1178bc60dd1">More...</a><br /></td></tr>
<tr class="separator:ad06f6d6a3cb3f85848fce1178bc60dd1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a977ef0340cc0cbf164f9ba492736ca18"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Stuggihop.html#a977ef0340cc0cbf164f9ba492736ca18">get_joint_torques</a> ()</td></tr>
<tr class="memdesc:a977ef0340cc0cbf164f9ba492736ca18"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_joint_torques  <a href="#a977ef0340cc0cbf164f9ba492736ca18">More...</a><br /></td></tr>
<tr class="separator:a977ef0340cc0cbf164f9ba492736ca18"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2cad739e379d40ac6ccc50091ed3d456"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Stuggihop.html#a2cad739e379d40ac6ccc50091ed3d456">get_joint_target_torques</a> ()</td></tr>
<tr class="memdesc:a2cad739e379d40ac6ccc50091ed3d456"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_joint_torques  <a href="#a2cad739e379d40ac6ccc50091ed3d456">More...</a><br /></td></tr>
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<tr class="memitem:ae693c1a57f25426d82cece8d5066d331"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Stuggihop.html#ae693c1a57f25426d82cece8d5066d331">get_joint_gear_ratios</a> ()</td></tr>
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<tr class="memitem:afc0dfd7c91f9a83126ed6644ae29ed20"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Stuggihop.html#afc0dfd7c91f9a83126ed6644ae29ed20">get_joint_encoder_index</a> ()</td></tr>
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<tr class="memitem:a0669e1c16bd6698966149cebad9c43fc"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Stuggihop.html#a0669e1c16bd6698966149cebad9c43fc">get_hardstop2zero_offsets</a> ()</td></tr>
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<tr class="memitem:a206157411d7bd41d5d599106512482ae"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Stuggihop.html#a206157411d7bd41d5d599106512482ae">get_start2hardstop_offsets_</a> ()</td></tr>
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<tr class="memitem:a6da73065d935420daf4959b8f912128c"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Stuggihop.html#a6da73065d935420daf4959b8f912128c">get_base_positions</a> ()</td></tr>
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<tr class="memitem:a7f869117918d0d5d5813d29222430d88"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Stuggihop.html#a7f869117918d0d5d5813d29222430d88">get_base_velocities</a> ()</td></tr>
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<tr class="memitem:a5a68ae4700c53672c30d373cc3b5b66c"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Stuggihop.html#a5a68ae4700c53672c30d373cc3b5b66c">get_max_current</a> ()</td></tr>
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<tr class="memitem:a4d0344d8fa31e2e959dfcb3c3f5538e9"><td class="memItemLeft" align="right" valign="top">const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Stuggihop.html#a4d0344d8fa31e2e959dfcb3c3f5538e9">get_max_joint_torque</a> ()</td></tr>
<tr class="memdesc:a4d0344d8fa31e2e959dfcb3c3f5538e9"><td class="mdescLeft">&#160;</td><td class="mdescRight">get_max_torque  <a href="#a4d0344d8fa31e2e959dfcb3c3f5538e9">More...</a><br /></td></tr>
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<tr class="memitem:a8be641fdc498b04a52bb721f14c449c3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Stuggihop.html#a8be641fdc498b04a52bb721f14c449c3">set_max_current</a> (const Eigen::Ref&lt; <a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> &gt; max_current)</td></tr>
<tr class="memdesc:a8be641fdc498b04a52bb721f14c449c3"><td class="mdescLeft">&#160;</td><td class="mdescRight">set_max_current sets the maximum current that the motor can to apply.  <a href="#a8be641fdc498b04a52bb721f14c449c3">More...</a><br /></td></tr>
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<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<p><a class="el" href="classblmc__robots_1_1Stuggihop.html">Stuggihop</a> is the constructor of the class. </p>
<p>Motor data</p>
<p>Joint data</p>
<p>Additional data</p>
<p>Boom parameters</p>
<p>Setup some known data</p>

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<h2 class="groupheader">Member Function Documentation</h2>
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<p>acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any getter to have up to date data. </p>
<p>Motor data</p>
<p>Joint data</p>
<p>Boom data</p>
<p>Floating Base data</p>
<p>Additional data</p>

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<p>get_slider_positions </p>
<dl class="section return"><dt>Returns</dt><dd>the current sliders positions. WARNING !!!! The method &lt;acquire_sensors&gt;"()" has to be called prior to any getter to have up to date data. get_contact_sensors_states </dd>
<dd>
the state of the contacts states WARNING !!!! The method &lt;acquire_sensors&gt;"()" has to be called prior to any getter to have up to date data. get_contact_sensors_states </dd>
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the state of the contacts states WARNING !!!! The method &lt;acquire_sensors&gt;"()" has to be called prior to any getter to have up to date data. get_base_positions </dd>
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the x,y position of the floating base The method &lt;acquire_sensors&gt;"()" has to be called prior to any getter to have up to date data. </dd></dl>

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<p>get_base_velocities </p>
<dl class="section return"><dt>Returns</dt><dd>the x,y velocities of the floating base The method &lt;acquire_sensors&gt;"()" has to be called prior to any getter to have up to date data. </dd></dl>

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<p>get_hardstop2zero_offsets </p>
<dl class="section return"><dt>Returns</dt><dd>the position where the robot should be in "zero" configuration </dd></dl>

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<p>get_joint_encoder_index </p>
<dl class="section return"><dt>Returns</dt><dd>The last observed encoder index in joint coordinates. WARNING !!!! The method &lt;acquire_sensors&gt;"()" has to be called prior to any getter to have up to date data. </dd></dl>

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<p>get_joint_gear_ratios </p>
<dl class="section return"><dt>Returns</dt><dd>the joint gear ratios </dd></dl>

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<p>get_joint_positions </p>
<dl class="section return"><dt>Returns</dt><dd>the joint angle of each module WARNING !!!! The method &lt;acquire_sensors&gt;"()" has to be called prior to any getter to have up to date data. </dd></dl>

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<p>get_joint_torques </p>
<dl class="section return"><dt>Returns</dt><dd>the target joint torques </dd></dl>

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<p>get_joint_torques </p>
<dl class="section return"><dt>Returns</dt><dd>the joint torques WARNING !!!! The method &lt;acquire_sensors&gt;"()" has to be called prior to any getter to have up to date data. </dd></dl>

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<p>get_joint_velocities </p>
<dl class="section return"><dt>Returns</dt><dd>the joint velocities WARNING !!!! The method &lt;acquire_sensors&gt;"()" has to be called prior to any getter to have up to date data. </dd></dl>

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<p>get_max_current </p>
<dl class="section return"><dt>Returns</dt><dd>the max current that has been hardcoded in the constructor of this class. TODO: parametrize this via yaml or something else. </dd></dl>

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<p>get_max_torque </p>
<dl class="section return"><dt>Returns</dt><dd>the max torque that has been hardcoded in the constructor of this class. TODO: parametrize this via yaml or something else. </dd></dl>

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<p>get_motor_currents </p>
<dl class="section return"><dt>Returns</dt><dd>the current motors currents in (Ampere: A). WARNING !!!! The method &lt;acquire_sensors&gt;"()" has to be called prior to any getter to have up to date data. </dd></dl>

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<p>get_motor_encoder_indexes </p>
<dl class="section return"><dt>Returns</dt><dd>the position of the index of the encoders a the motor level WARNING !!!! The method &lt;acquire_sensors&gt;"()" has to be called prior to any getter to have up to date data. </dd></dl>

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<p>get_motor_inertias </p>
<dl class="section return"><dt>Returns</dt><dd>the motor inertias </dd></dl>

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<p>get_motor_positions </p>
<dl class="section return"><dt>Returns</dt><dd>the current motors positions (rad). WARNING !!!! The method &lt;acquire_sensors&gt;"()" has to be called prior to any getter to have up to date data. </dd></dl>

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<p>get_motor_target_currents </p>
<dl class="section return"><dt>Returns</dt><dd>the target current motors currents in (Ampere: A). WARNING !!!! The method &lt;acquire_sensors&gt;"()" has to be called prior to any getter to have up to date data. </dd></dl>

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<p>get_motor_torque_constants </p>
<dl class="section return"><dt>Returns</dt><dd>the torque constants of each motor </dd></dl>

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<p>get_motor_torques </p>
<dl class="section return"><dt>Returns</dt><dd>the motor torques in Nm WARNING !!!! The method &lt;acquire_sensors&gt;"()" has to be called prior to any getter to have up to date data. </dd></dl>

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<p>get_motor_velocities </p>
<dl class="section return"><dt>Returns</dt><dd>the current motors velocities (rad/s). WARNING !!!! The method &lt;acquire_sensors&gt;"()" has to be called prior to any getter to have up to date data. </dd></dl>

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<p>get_start2hardstop_offsets_ </p>
<dl class="section return"><dt>Returns</dt><dd>the position where the robot should be in "zero" configuration </dd></dl>

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<p>get_target_motor_torques </p>
<dl class="section return"><dt>Returns</dt><dd>the target motor torques in Nm </dd></dl>

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<p>set_hardstop2zero_offsets </p>

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<p>set_max_current sets the maximum current that the motor can to apply. </p>
<dl class="params"><dt>Parameters</dt><dd>
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<p>set_start2hardstop_offsets </p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>/workspace/software/workspace/src/catkin/robots/blmc_robots/include/blmc_robots/<a class="el" href="stuggihop_8hpp_source.html">stuggihop.hpp</a></li>
<li>/workspace/software/workspace/src/catkin/robots/blmc_robots/src/stuggihop.cpp</li>
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